starting astar algorithm

2 files changed, 25 insertions, 6 deletions

diff --git a/include/astar.hpp b/include/astar.hpp
index bcff452..a3d2178 100644
--- a/include/astar.hpp
+++ b/include/astar.hpp
@@ -5,6 +5,7 @@
 #include "node.hpp"
 
 #include <ostream>
+#include <vector>
 
 // defines the number of nodes one can go to
 // we don't need this as we will have the queues
@@ -13,10 +14,22 @@
 // TODO add constructors and functions to calculate heuristics etc..
 class AStar {
 public:
-	AStar();
+	AStar(int *curr_graph, const unsigned int& width, const unsigned int& height);
 private:
 	PriorityQueue<Node> open_set;
-	Node current;
+	std::vector<Node> closed_set;
+
+	int *graph;
+	int graph_width;
+	int graph_height;
+
+	Node current_node, start_node, end_node;
+
+	void set_start_end();
+
+	Node get_neighbour(const Node& n_in, const int& neighbour_num);
+
+	void calc_heuristic(Node& n);
 };
 
 #endif // ASTAR_HPP
diff --git a/include/node.hpp b/include/node.hpp
index 314fc7c..3b81b1c 100644
--- a/include/node.hpp
+++ b/include/node.hpp
@@ -3,13 +3,19 @@
 
 #include <ostream>
 
+class AStar;
+
 class Node {
+	friend AStar;
 public:
 	Node();
 
-	void set_f(int i) {
-		f_score = i;
-	}
+	void set_x(int x_in);
+	void set_y(int y_in);
+	void set_h_score(int h);
+	void set_g_score(int g);
+
+	void compute_f();
 
 	// overloading operators for ease of use.
 	friend bool operator<(const Node& n1, const Node& n2);
@@ -31,7 +37,7 @@ private:
 	int f_score;
 // path length to get to that node.
 	int g_score;
-// heulistic length to destination.
+// heuristic length to destination.
 	int h_score;
 
 // the x and y coordinates of the node in the grid